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An agv navigation state machine

A state machine, state-of-the-art technology, applied in motor vehicles, two-dimensional position/channel control, instruments, etc., to simplify complexity, realize multi-platform migration, and improve optimization potential

Active Publication Date: 2020-08-25
BEIJING INST OF SPECIALIZED MACHINERY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is: how to simplify the complexity of AGV navigation driving, enhance the scalability and robustness of AGV navigation driving, and realize multi-platform migration

Method used

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Examples

Experimental program
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Embodiment Construction

[0025] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with examples.

[0026] The AGV navigation state machine of the present invention divides the AGV operating state into the following 6 types:

[0027] Manual state: when the AGV is in this state, the operator is allowed to operate directly through the handheld controller, which is used for emergency and some unconventional use states;

[0028] Idle state: when the AGV is in this state, it stops waiting in situ and waits for commands from the host computer;

[0029] Driving state: when the AGV is in this state, it will drive according to the path sent by the host computer;

[0030] End state: AGV arrives at the end, marking the end of the AGV's driving;

[0031] Task execution state: when the AGV is in this state, it will execute the task sent by the host computer; ...

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Abstract

The invention relates to an AGV navigation state machine, and relates to the technical field of AGV navigation and positioning. The invention provides an AGV navigation driving state machine. The system divides AGV automatic driving into several states, and each state will execute pre-planned behaviors. Relying on a fixed scan cycle, AGV will continuously query its own status and status transformation conditions, and execute commands corresponding to the current status. At the beginning of each cycle, the AGV will determine its own status in the next cycle based on its current operating status and various external judgment conditions, execute corresponding commands based on the operating status of this cycle, and end this cycle. At the beginning of the next cycle, the AGV will change the state determined in the previous cycle to this state, thus completing the state switch.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning of AGVs, in particular to an AGV navigation state machine. Background technique [0002] As a fully automatic industrial logistics solution, AGV (Automatic Guided Vehicle) is widely used in various fields such as aviation, aerospace, education, medical care, industry, and logistics. At present, AGV often has a relatively single function, and cannot form a single optimization or add or delete a certain module function. Contents of the invention [0003] (1) Technical problems to be solved [0004] The technical problem to be solved by the present invention is: how to simplify the complexity of AGV navigation driving, enhance the scalability and robustness of AGV navigation driving, and realize multi-platform migration. [0005] (2) Technical solutions [0006] In order to solve the above-mentioned technical problems, the present invention provides a kind of AGV navigation st...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/021
Inventor 李远桥李明李波段三军宋策
Owner BEIJING INST OF SPECIALIZED MACHINERY